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cs.RO2026
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
Junnan Nie, Jiayi Li, Jiachen Zhang +5
Recent vision-language-action and diffusion-based robot policies often use action chunking, where each policy query predicts a sequence of future actions and the robot executes an…
cs.RO2026
What Frozen VLAs Already Know About Success: A Probing Study of Value-Like Structure in Foundation Robot Policies
Jiachen Zhang, Junnan Nie, Junyi Lao +4
Vision--language--action (VLA) policies are trained to imitate actions; their loss never asks them to estimate reward, progress, or future success. Their frozen representations nev…